EP2213563A1 - Koaxialzweiradfahrzeug und steuerverfahren dafür - Google Patents
Koaxialzweiradfahrzeug und steuerverfahren dafür Download PDFInfo
- Publication number
- EP2213563A1 EP2213563A1 EP08842570A EP08842570A EP2213563A1 EP 2213563 A1 EP2213563 A1 EP 2213563A1 EP 08842570 A EP08842570 A EP 08842570A EP 08842570 A EP08842570 A EP 08842570A EP 2213563 A1 EP2213563 A1 EP 2213563A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- coaxial
- wheel vehicle
- vehicle
- passenger
- step portions
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K17/00—Cycles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K3/00—Bicycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/16—Single-axle vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/22—Driver interactions by presence detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/24—Driver interactions by lever actuation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to a coaxial two-wheel vehicle including two wheels disposed on the same axis center line, and a method of controlling the same.
- the present invention relates to a coaxial two-wheel vehicle with a person riding thereon to perform a traveling operation, and a method of controlling the same.
- Patent Document 1 proposes a coaxial two-wheel vehicle having a vehicle structure in which a user gets on the vehicle in a standing posture.
- operations such as forward/backward movements and left/right turns are performed in response to instructions resulting from movement of a handle, movement of the center of gravity of a passenger, inclination of a step on which the passenger rides, and the like, thereby steering the vehicle.
- this coaxial two-wheel vehicle is unstable in a front-and-rear direction because of its structure, like other common coaxial two-wheel vehicles. Accordingly, wheels of the vehicle are controlled through feedback control by using a posture sensor to thereby stabilize the vehicle.
- a coaxial two-wheel vehicle performs a posture (balance) control by using a posture sensor or the like in the manner as described above, while the coaxial two-wheel vehicle is liable to lose its balance when a passenger gets on or gets off the vehicle, according to the nature of the balance control. In order to prevent the vehicle from losing its balance, the passenger is forced to carefully get on/off the vehicle in an unnatural posture.
- the passenger is forced to get off the vehicle in an unnatural posture while keeping balance by inclining the upper body forward by himself/herself in order to prevent the vehicle from traveling backward in the case where one foot is moved backward when the passenger gets off the vehicle.
- the present invention has been made to solve the above-mentioned problems, and therefore an object of the present invention is to provide a coaxial two-wheel vehicle that allows a person to easily get off the vehicle with high safety, and a method of controlling the same.
- a coaxial two-wheel vehicle having step portions on which feet of the passenger are placed and an operating portion capable of operating at least back-and-forth movements, to move with a passenger riding thereon
- the coaxial two-wheel vehicle including a control device that executes a getting-off assist control to increase an inclination angle of each of the step portions with respect to a direction in which the passenger gets off the vehicle, when the passenger gets off the vehicle.
- the control device controls the coaxial two-wheel vehicle to move in a direction in which the step portions are inclined.
- the step portions may be inclined to a side of the moving direction after being inclined in a direction opposite to the moving direction.
- the coaxial two-wheel vehicle further includes a getting-off switch that generates a getting-off control start trigger signal, and it is preferable that the control device detect that the passenger gets off the vehicle, in response to the getting-off control start trigger signal supplied from the getting-off switch, and execute the getting-off assist control.
- the coaxial two-wheel vehicle further includes a step sensor that detects whether the feet of the passenger are placed on the step portions, and the control device may detect a getting-off operation of the passenger based on a detection result of the step sensor, and may execute the getting-off assist control.
- control device increase the inclination angle of each of the step portions by changing a target posture angle.
- control device change the target posture angle smoothly by using a digital low-pass filter to increase the inclination angle of each of the step portions.
- control device may change the target posture angle along a curve obtained by combining a plurality of quadratic or higher order curves to increase the inclination angle of each of the step portions.
- control device detects that a speed of the coaxial two-wheel vehicle is zero, it is preferable that the control device stop a posture control and control a drive motor for wheels to maintain the coaxial two-wheel vehicle in a stopped state.
- control device control the drive motor to change a driving speed along a quadratic or higher order curve so that the coaxial two-wheel vehicle is brought into a completely stopped state.
- the coaxial two-wheel vehicle further includes means that detects that both feet of the passenger are removed from the step portions, and when the control device detects the both feet of the passenger are removed from the step portions, it is desirable that the control device stop controlling a drive motor for wheels.
- a method of controlling a coaxial two-wheel vehicle including step portions on which feet of a passenger are placed and an operating portion capable of operating at least back-and-forth movements, to move with the passenger riding thereon, the method including the steps of: detecting that the passenger gets off the vehicle; and executing a getting-off assist control to increase an inclination angle of each of the step portions with respect to a direction in which the passenger gets off the vehicle, when it is detected that the passenger gets off the vehicle.
- the coaxial two-wheel vehicle be controlled to move in a direction in which the step portions are inclined.
- the step portions may be inclined to a side of the moving direction after being inclined in a direction opposite to the moving direction.
- the inclination angle of each of the step portions be increased by changing a target posture angle.
- the target posture angle may be changed smoothly by using a digital low-pass filter to increase the inclination angle of each of the step portions.
- the inclination angle of each of the step portions may be increased by changing the target posture angle along a curve obtained by combining a plurality of quadratic or higher order curves.
- a posture control may be stopped and a drive motor for wheels may be controlled to maintain the coaxial two-wheel vehicle in a stopped state.
- the drive motor be controlled to change a driving speed along a quadratic or higher order curve so that the coaxial two-wheel vehicle is brought into a completely stopped state.
- control of the drive motor for wheels be stopped.
- the coaxial two-wheel vehicle according to the present invention has a feature of performing a getting-off assist control for assisting a getting-off operation when a passenger gets off the vehicle.
- Figs. 1A and 1B are views each illustrating the control method according to the present invention. Each of the views illustrates a state where the passenger gets off the coaxial two-wheel vehicle on the rear side thereof.
- the coaxial two-wheel vehicle according to this embodiment is a coaxial two-wheel vehicle of a so called handle operated type.
- Operations such as forward/backward movements and left/right turns can be performed by tilting a handle extending upward from a vehicle body.
- the forward moving operation is performed when the handle is tilted forward;
- the backward moving operation is performed when the handle is tilted backward;
- the turning operation is performed when the handle is tilted leftward or rightward.
- a movement control operation performed using a handle is disclosed in, for example, Patent Document 1.
- Fig. 1A shows a state where the passenger gripping the handle is on the coaxial two-wheel vehicle. In this state, the center of gravity of the vehicle is coincident with the center of gravity of the passenger, and thus the vehicle is balanced.
- Fig. 1B shows a state which is shifted from the state shown in Fig. 1A and in which the passenger gets off the vehicle on the rear side thereof and puts his/her right foot on the ground.
- a step of the vehicle is inclined to the rear side of the vehicle as shown in Fig. 1B .
- a movement distance between the center of gravity of the vehicle and the center of gravity of the passenger is determined according to a ratio between the weight of the vehicle and the weight of the passenger.
- Figs. 2A and 2B each show a case where the getting-off assist control according to the present invention is not carried out and the getting-off operation is not assisted.
- Fig. 2A shows a state where the passenger gripping the handle is on the coaxial two-wheel vehicle.
- Fig. 2B shows a state which is shifted from the state shown in Fig. 2A and in which the passenger gets off on the rear side of the vehicle and puts his/her right foot on the ground. In this case, the positions of tires of the vehicle on the ground remain unchanged before and after the passenger gets off the vehicle.
- the passenger takes an unnatural and undesirable posture, that is, a posture in which one foot (hereinafter, referred to as "grounding leg”) of the passenger is placed on the ground while the center of gravity of the passenger is located immediately above the vehicle, and then moves the other foot (hereinafter, referred to as “supporting leg”) from the step to place the supporting leg on the ground, thereby completing the getting-off operation.
- grounding leg a posture in which one foot (hereinafter, referred to as "grounding leg”) of the passenger is placed on the ground while the center of gravity of the passenger is located immediately above the vehicle, and then moves the other foot (hereinafter, referred to as “supporting leg”) from the step to place the supporting leg on the ground, thereby completing the getting-off operation.
- the inventors of the present invention have found that the reason for various problems occurring during the getting-off operation is that the same balance (posture) control, which is performed when the passenger is on the vehicle in the normal state (that is, during traveling), is continued during the getting-off operation.
- the term "getting-off operation” originally refers to an operation of shifting from a balanced state to an unbalanced state between the center of gravity of the vehicle and the center of gravity of the passenger.
- the getting-off operation is incompatible with the operation of performing control so as "not to lose its balance" during traveling.
- the center of gravity of each of the vehicle and the passenger is located immediately above the tires when the passenger is on the vehicle. After the passenger gets off the vehicle on the rear side thereof, it is necessary to change the positional relationship so that the vehicle is positioned forward and the passenger is positioned backward.
- the balance control employed in the coaxial two-wheel vehicle according to the related art, it is assumed that the center of gravity of the vehicle is coincident with the center of gravity of the passenger. Thus, the balance control cannot be applied to a transient state in which the centers of gravity are located forward and backward as in the case where the passenger gets off the vehicle.
- an inclination angle of each of the steps is first increased during the getting-off operation. For example, when the passenger gets off the vehicle on the front side thereof, a forward inclination angle of each of the steps is increased, and when the passenger gets off the vehicle on the rear side thereof, a backward inclination angle of each of the steps is increased.
- a pitch axis is an axis corresponding to an axle of a pair of wheels 13L and 13R
- a roll axis is an axis which passes through the center of a vehicle body 12 and is parallel to a traveling direction of the vehicle
- a yaw axis is an axis which passes through the center of the vehicle body 12 and is vertical to a road surface on which the vehicle travels.
- a coaxial two-wheel vehicle 10 includes the vehicle body 12, the wheels 13L and 13R, wheel drive units 14L and 14R, and a handle 15.
- the handle 15 is an operating portion for performing forward/backward movement operations by tilting the handle in the back and forth direction, and for performing a turning operation by tilting the handle in the roll direction.
- a lower end portion of the handle 15 is fixed to an operating lever bracket 24.
- the handle 15 is composed of a handle post 35 and a handle lever 36 formed on an upper end portion of the handle post 35.
- a turning operation ring 37 capable of controlling the driving of the pair of wheel drive units 14L and 14R is mounted.
- the turning operation ring 37 is used to control the turning operation of the vehicle through a manual operation, and acts as an accelerator ring for use in the turning operation.
- a signal corresponding to an operation amount of the turning operation ring 37 is output to a control device described later.
- a control device 46 controls the driving of the pair of wheel drive units 14L and 14R according to the operation amount of the turning operation ring 37 to produce a difference in rotation between the left and right wheels 13L and 13R, thereby enabling the vehicle to turn at a desired speed.
- a getting-off switch 38 is provided on an upper end portion of the other of the protrusions of the handle lever 36.
- the getting-off switch 38 is a switch that generates a getting-off assist start trigger signal which triggers execution of the getting-off assist control that is a characteristic processing of the present invention.
- the getting-off assist start trigger signal is supplied to the control device 46.
- the control device 46 starts the execution of the getting-off assist control in response to the getting-off assist start trigger signal.
- the vehicle body 12 rotatably supports the handle 15 in the roll direction.
- the pair of wheels 13L and 13R are disposed on the same axis line on both sides of the vehicle body 12 in a direction orthogonal to the traveling direction, and are rotatably supported by the vehicle body 12.
- the wheel drive units 14L and 14R are wheel drive means that rotationally drive the pair of wheels 13L and 13R individually.
- step portions 11L and 11R are provided on the left and right sides of the handle 15.
- the step portions 11L and 11R are steps for the passenger to ride with the feet being respectively placed thereon, and are formed of a pair of plate bodies, each of which is formed with a size equivalent to or a little larger than the sole of a person's foot.
- the step portions 11L and 11R are respectively provided with step sensors 39L and 39R.
- the step sensors 39L and 39R are each formed of, for example, a weight sensor, and detect whether the feet of the passenger are respectively placed on the step portions 11L and 11R.
- the step sensors 39L and 39R each supply a foot detection signal to the control device 46.
- the control device 46 is capable of detecting whether one foot of the passenger is placed on one of the step portions 11L and 11R, or the feet of the passenger are placed on both of the step portions 11L and 11R.
- the vehicle body 12 has a parallel link structure disclosed in Patent Document 1.
- the vehicle body 12 is structured as a parallel link mechanism including a vehicle body upper member 16 and a vehicle body lower member 17, which are disposed vertically in parallel with each other, and a pair of side surface members 18L and 18R which are disposed horizontally in parallel with each other and which are rotatably connected to each of the vehicle body upper member 16 and the vehicle body lower member 17.
- a pair of coil springs 19L and 19R which generate a spring force to maintain angles formed between the vehicle body upper member 16 and the vehicle body lower member 17 and the pair of side surface members 18L and 18R, respectively, at a right angle, are interposed.
- the wheel drive units 14L and 14R are respectively attached to outer surfaces of the pair of side surface members 18L and 18R.
- the wheel drive units 14L and 14R can be composed of, for example, a drive motor and a reduction gear train connected to a rotating shaft of the drive motor in a power transmitting manner.
- the wheel drive units 14L and 14R are each composed of a fixation portion, which is fixed to each of the side surface members 18L and 18R, and a rotation portion which is rotatably supported by the fixation portion.
- Each of the pair of wheels 13L and 13R is mounted to the rotation portion.
- upper end portions of the pair of side surface members 18L and 18R are projected appropriately upward from the upper surface of the vehicle body upper member 16, and the step portions 11L and 11R are individually attached to the upper end surfaces thereof.
- the pair of step portions 11L and 11R are provided horizontally extending at the same height with a predetermined gap in between in the left-and-right direction that is an axle direction.
- the distance between the pair of step portions 11L and 11R is made to be a distance between both feet when a person is standing in a natural state.
- the operating lever bracket 24 is attached to the center portion in the left-and-right direction of the vehicle body upper member 16 and the vehicle body lower member 17.
- the operating lever bracket 24 is made of a saddle-shaped member formed to straddle the vehicle body upper member 16 in the front-and-rear direction.
- a front surface portion extending to the lower portion of the vehicle body lower member 17 is provided at the front portion, and a rear surface portion extending close to the lower portion of the vehicle body upper member 16 is provided at the rear portion.
- a fitting portion for fixing and supporting the handle post 35 is provided on the upper surface of the operating lever bracket 24.
- bearing holes are provided respectively at positions corresponding to a front-center bearing hole of the vehicle body upper member 16 and to a center bearing hole of the vehicle body lower member 17. Further, in the rear surface portion, a bearing hole is provided at a position corresponding to a rear-center bearing hole of the vehicle body upper member 16.
- An upper-front turning support axle 25 is fitted into the upper-center bearing hole of the front surface portion of the operating lever bracket 24 in a turnable manner. Further, an upper-rear turning support axle (not shown) is fitted into the center bearing hole of the rear surface portion in a turnable manner. An axle center line of the upper-front turning support axle 25 and an axle center line of the upper-rear turning support axle are set on the same axis to correspond with each other. An axle top end portion of the upper-front turning support axle 25 is fitted into the hole provided in the front surface of the vehicle body upper member 16, and is fastened to be fixed with a fixing screw penetrating through the front surface of the vehicle body upper member 16. Likewise, an axle top end portion of the upper-rear turning support axle is fitted into the hole provided in the rear surface of the vehicle body upper member 16, and is fastened to be fixed with a fixing screw penetrating through the rear surface of the vehicle body upper member 16.
- a lower-front turning support axle 26 is fitted into the lower-center bearing hole of the front surface portion of the operating lever bracket 24 in a turnable manner.
- the operating lever bracket 24 is turned in the roll direction with the lower-front turning support axle 26 as the center of turning.
- concave cavity portions 16d and 17d for avoiding contact with the operating lever bracket 24 are provided in the front surfaces of the vehicle body upper member 16 and the vehicle body lower member 17.
- an angle detection sensor 31 is attached to the upper-front turning support axle 25 to detect an operation amount (turning amount) of the handle 15 through the turning amount (turning angle) of the operating lever bracket 24 in the roll direction.
- the angle detection sensor 31 includes an axle portion fixed to the upper-front turning support axle 25, and a detection portion that detects an amount of relative rotational displacement from the axle portion.
- the detection portion is fixed to one end of a fixing plate 32, and the other end of the fixing plate 32 is fixed to the front surface portion of the operating lever bracket 24 with a fixing screw.
- a potentiometer, a sensor having a variable capacitor structure, and the like can be applied as the angle detection sensor 31, for example.
- a lower end portion of an operation bar 154 is fixed to the fitting portion of the operating lever bracket 24.
- a power-supply accommodating portion 40 accommodating a battery that is a specific example of a power supply for supplying electric power to the pair of wheel drive units 14L and 14R, the control device, the other electronic devices and electric apparatus, and the like is provided on the upper surface of the operating lever bracket 24 that is a base portion of the handle 15.
- the power-supply accommodating portion 39 is covered with a power supply cover 41.
- Drive circuits for driving the pair of wheel drive units 14L and 14R and the like are incorporated in a housing portion of the vehicle body upper member 16. Further, the vehicle body lower member 17 is provided with a posture sensor unit serving as a posture detecting means that detects the posture of the vehicle body 12, the handle 15, and the like to output detection signals thereof, and with the control device 46 that outputs control signals for driving and controlling the pair of wheel drive units 14L and 14R and the like.
- a posture sensor unit serving as a posture detecting means that detects the posture of the vehicle body 12, the handle 15, and the like to output detection signals thereof
- the control device 46 that outputs control signals for driving and controlling the pair of wheel drive units 14L and 14R and the like.
- the control device 46 executes predetermined arithmetic processing based on the detection signal from a posture sensor unit 45, the detection signal from the angle detection sensor 31, the getting-off assist start trigger signal from the getting-off switch 38, the foot detection signal from the step sensor 39, and the like, and outputs necessary control signals to the pair of wheel drive units 14L and 14R and the like.
- the control device 46 includes an arithmetic circuit 47 having a microcomputer (CPU), and a storage device 48 having a program memory, a data memory, and other memories such as a RAM and a ROM, for example.
- the battery 40 and a pair of drive circuits 44L and 44R are connected to the control device 46, and those are also connected to each other through an emergency stop switch 49.
- the pair of drive circuits 44L and 44R individually control a rotational speed, a rotational direction, and the like of the pair of wheels 13L and 13R, and the pair of wheel drive units 14L and 14R are individually connected thereto.
- the control device 46 is supplied with the detection signal from the angle detection sensor 31 that detects the inclination angle of 15, the detection signal from the posture sensor unit 45, the getting-off assist start trigger signal from the getting-off switch 38, and the foot detection signal from the step sensor 39.
- the control device 46 executes the getting-off assist control as well as the normal posture control based on the getting-off assist start trigger signal and the foot detection signal.
- the posture sensor unit 45 is used to detect an angular velocity and an acceleration and to control the angular velocity and travel acceleration when the coaxial two-wheel vehicle 10 is traveling, and is composed of, for example, a gyroscopic sensor and an acceleration sensor.
- the control device 46 drives and controls the wheel drive units 14L and 14R based on the angular velocity and the acceleration, which are detected by the posture sensor unit 45, so that the vehicle moves in a direction in which the handle 15 is tilted.
- the getting-off assist control is started in response to the getting-off assist start trigger indicating that the passenger starts to get off the vehicle in a state where the passenger riding thereon is carrying out the posture control (S101). Specifically, when the passenger presses the getting-off switch 38, the getting-off assist start trigger signal is supplied to the control device 46 in response to the switch being pressed, thereby notifying the control device 46 of the getting-off assist start trigger. The control device 46 starts the getting-off assist control in response to the getting-off assist start trigger signal.
- the getting-off assist start trigger can be generated not only by the control due to pressing of the getting-off switch 38, but also by various methods.
- the step sensor 39 may detect whether the foot is removed from one of the step portions 11L and 11R of the vehicle body, and when it is detected, the getting-off assist start trigger may be generated.
- an optical sensor disposed at the rear portion of the vehicle body 12 may detect whether one foot is moved backward, and when it is detected, the getting-off assist start trigger may be generated.
- the control device 46 notified of the getting-off assist start trigger changes a target posture angle according to a profile (S102).
- the profile is determined depending on a vehicle speed at the time when the control device 46 receives the getting-off assist start trigger, that is, when the getting-off assist control is started.
- the target posture angle is changed so as to change smoothly.
- the target posture angle is an angle at which the vehicle is inclined backward
- the target posture angle is an angle at which the vehicle is inclined forward.
- the target posture angle may be changed so that an angular change is simply linearly proportional to a time change, but the posture angular velocity changes in a discontinuous manner, which gives an undesirable impact to the passenger.
- the target posture angle may be changed by connecting a plurality of quadratic or higher order curves as shown in Fig. 7 .
- the changed target posture angle is set to be smaller than an angle (backward limit inclination angle) at which a part of the vehicle body, which is positioned on the rear side of the wheels, is brought into contact with the ground.
- the target posture angle is set to be smaller than an angle (forward limit inclination angle) at which a part of the vehicle body, which is positioned on the front side of the wheels, is brought into contact with the ground.
- the center of gravity of each of the vehicle and the passenger is located backward (forward) of the wheels, thereby applying a brake to the vehicle.
- the handle presses the body of the passenger backward.
- the center of gravity of the passenger is inevitably moved backward, and the center of gravity of each of the vehicle and the passenger is located backward of the wheels.
- the vehicle in a state where the coaxial two-wheel vehicle 10 is stopped, when the control device 46 is notified of the getting-off assist start trigger, the vehicle travels forward a small distance and is then braked.
- the axis of abscissa may indicate time or speed. Assuming that the axis of abscissa indicates the speed, as the acceleration increases, the vehicle is inclined backward more rapidly and a larger brake force is applied thereto.
- the position of the center of gravity is moved backward when the passenger gets off the vehicle on the rear side thereof, and the position of the center of gravity is moved forward when the passenger gets off the vehicle on the front side thereof, thereby applying a brake to the vehicle.
- the angular velocity of the drive motors for driving the wheels decreases.
- the angular velocity of each of the drive motors is temporarily reduced to a negative value below zero, that is, the drive motors are reversely rotated.
- the control device 46 determines whether the angular velocity of each of the drive motors is equal to or smaller than zero (S103). When determining that the angular velocity of each of the drive motors is equal to or smaller than zero, the control device 46 shifts to the subsequent control step S104.
- the control device 46 stops the vehicle balance control (that is, posture control), and executes only speed control of left and right drive motors. Specifically, since the vehicle speed is approximately zero when the vehicle shifts to the control step S104, the control device 46 executes control for maintaining the vehicle speed at approximately zero. Accordingly, even if a force for moving the vehicle relatively forward by kicking with his/her foot (supporting leg) placed on the vehicle acts due to reaction when the passenger thrusts his/her foot (grounding leg) backward, the control for maintaining the vehicle speed at approximately zero prevents the vehicle from traveling forward. Thus, a force necessary for supporting the body of the passenger is supplemented.
- Fig. 8 is a graph obtained when the angular velocity of each of the drive motors is changed according to a cubic curve.
- Fig. 9 is a graph showing a change in acceleration of the drive motors. The acceleration changes smoothly, which enables the passenger to continue the getting-off operation with a natural feeling.
- the control device 46 monitors the output from the step sensor 39 in the state where the control step S104 is executed, and determines whether both feet of the passenger are removed from the step portions 11L and 11R (S105). At this time, the optical sensor disposed at the rear portion of the vehicle body 12 may detect whether one foot is moved backward, to thereby detect whether both feet of the passenger are removed from the steps of the vehicle. When determining that both feet of the passenger are removed from the step portions 11L and 11R of the vehicle, the control device 46 completely shuts off the torque of each of the drive motors, thereby stopping the control of the drive motors (S106).
- the inclination angle of each of the steps is first increased during the getting-off operation. Further, when the rotational speed of each of the motors for driving the wheels is inverted, the balance control, that is, the feedback control of the posture is stopped, and the vehicle shifts to a mode for controlling only the number of revolutions of the motors. Furthermore, after it is detected that the feet are removed from the left and right steps, the power of each of the motors is turned off to stop the rotational control of the motors.
- the getting-off operation of the passenger is assisted by the control, thereby enabling the passenger to perform the getting-off operation without taking an unnatural posture. Further, it is possible to prevent the coaxial two-wheel vehicle from being unbalanced when the passenger gets off the vehicle, thereby preventing the vehicle from colliding with the foot of the passenger. Furthermore, even when the vehicle speed is equal to or higher than a predetermined speed, a brake is applied to the vehicle and the passenger by performing appropriate vehicle control according to the speed in the front-and-rear direction, thereby enabling the passenger to get off the vehicle at a safe speed in a safe posture.
- control for changing the number of revolutions smoothly to become zero is carried out in accordance with the variation in number of revolutions (i.e., acceleration) obtained immediately before the control, which contributes to supporting the feet of the passenger so that the passenger can move the center of gravity of himself/herself without feeling any anxiety, while preventing sudden braking and alleviating the impact on the feet of the passenger.
- the getting-off assist start trigger is actuated when the vehicle together with the passenger is traveling backward, if the passenger gets off the vehicle on the rear side thereof, the passenger feels like being thrown out backward.
- a second embodiment of the present invention is characterized in that a profile for backward traveling as shown in Fig. 10 is used to suppress such an undesirable feeling.
- the control device 46 temporarily sets the target posture angle as a forward inclined angle to brake the body of the passenger and the vehicle body so that the body of the passenger and the vehicle body are inclined forward. After that, the control device 46 increases the target posture angle so as to incline the vehicle backward, and the passenger gets off the vehicle on the rear side thereof.
- the control device 46 determines the vehicle speed. When determining that the vehicle speed is a negative value, the control device 46 adjusts the target posture angle in the negative direction, that is, adjusts the target posture angle so that the vehicle is inclined forward. Then, when a predetermined time or a time t 1 , which is determined based on predetermined criteria for judgment, is reached, the control device 46 sets the angle so that the vehicle is inclined backward and controls the angle to gradually increase. Then, a predetermined time or a time t 2 , which is determined based on predetermined criteria for judgment, is reached, the target posture angle reaches a predetermined maximum value.
- the target posture angle is temporarily inclined backward and is then increased to incline the vehicle forward in the same manner as described above.
- the target posture angle is set so that the vehicle is inclined in a direction opposite to the traveling direction of the vehicle, and then the target posture angle is set so that the vehicle is inclined in the same direction as the traveling direction of the vehicle, thereby suppressing the undesirable feeling of being thrown out against the traveling direction of the vehicle.
- a warning tone generating means that causes a system to generate a warning tone when the getting-off assist control is started, a passenger's intention to get off the vehicle is increased, and thus the passenger can smoothly get off the vehicle.
- the getting-off assist control is started to guide the passenger to get off the vehicle safely, thereby reducing a damage to the coaxial two-wheel vehicle 10.
- the getting-off assist control can be used as a break to alleviate the panic.
- the person can stop the vehicle safely to get off the vehicle.
- the present invention relates to a coaxial two-wheel vehicle including two wheels disposed on the same axis center line, and a method of controlling the same.
- the present invention can be applied to a coaxial two-wheel vehicle with a person riding thereon to perform a traveling operation, and a method of controlling the same.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007273544A JP4862801B2 (ja) | 2007-10-22 | 2007-10-22 | 同軸二輪車及びその制御方法 |
PCT/JP2008/066713 WO2009054208A1 (ja) | 2007-10-22 | 2008-09-17 | 同軸二輪車及びその制御方法 |
Publications (3)
Publication Number | Publication Date |
---|---|
EP2213563A1 true EP2213563A1 (de) | 2010-08-04 |
EP2213563A4 EP2213563A4 (de) | 2014-07-09 |
EP2213563B1 EP2213563B1 (de) | 2016-06-22 |
Family
ID=40579315
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08842570.7A Not-in-force EP2213563B1 (de) | 2007-10-22 | 2008-09-17 | Koaxialzweiradfahrzeug und steuerverfahren dafür |
Country Status (6)
Country | Link |
---|---|
US (1) | US8256545B2 (de) |
EP (1) | EP2213563B1 (de) |
JP (1) | JP4862801B2 (de) |
KR (1) | KR101145287B1 (de) |
CN (1) | CN101678872B (de) |
WO (1) | WO2009054208A1 (de) |
Families Citing this family (23)
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JP4968297B2 (ja) | 2009-09-04 | 2012-07-04 | トヨタ自動車株式会社 | 移動体、移動体の制御方法、及びプログラム |
JP5355700B2 (ja) | 2009-09-18 | 2013-11-27 | 本田技研工業株式会社 | 倒立振子型移動体の制御装置 |
DE112009005248B4 (de) * | 2009-09-18 | 2015-05-28 | Honda Motor Co., Ltd. | Regelungs-/Steuerungsvorrichtung eines inverspendelartigen Fahrzeugs |
JP5355328B2 (ja) * | 2009-09-23 | 2013-11-27 | 本田技研工業株式会社 | 倒立振子型車両の制御装置 |
JP5414804B2 (ja) * | 2009-09-23 | 2014-02-12 | 本田技研工業株式会社 | 倒立振子型車両の制御装置 |
WO2011036693A1 (ja) * | 2009-09-23 | 2011-03-31 | 本田技研工業株式会社 | 倒立振子型車両の制御装置 |
EP2543582B1 (de) | 2010-03-05 | 2016-06-15 | Toyota Jidosha Kabushiki Kaisha | Zweirädrige umgekehrte pendelvorrichtung, verfahren zu ihrer steuerung und steuerprogramm |
US8606468B2 (en) | 2010-03-12 | 2013-12-10 | Toyota Jidosha Kabushiki Kaisha | Vehicle |
JP5666952B2 (ja) * | 2011-03-11 | 2015-02-12 | 本田技研工業株式会社 | 鞍乗型車両 |
JP2014088054A (ja) * | 2012-10-29 | 2014-05-15 | Toyota Motor Corp | 倒立型移動体及びその制御方法 |
US9643077B2 (en) * | 2013-10-21 | 2017-05-09 | Equalia LLC | Pitch-propelled vehicle |
US9211470B2 (en) * | 2013-10-21 | 2015-12-15 | Equalia LLC. | Pitch-propelled vehicle |
US10369453B2 (en) | 2013-10-21 | 2019-08-06 | Equalia LLC | Pitch-propelled vehicle |
JP2015143042A (ja) * | 2014-01-31 | 2015-08-06 | トヨタ自動車株式会社 | 移動体 |
JP6183240B2 (ja) * | 2014-02-18 | 2017-08-23 | トヨタ自動車株式会社 | 倒立二輪車 |
US10384742B2 (en) * | 2014-11-18 | 2019-08-20 | Zehus S.P.A. | System for controlling the motion of an impulsive-type human powered vehicle |
JP6256327B2 (ja) * | 2014-12-18 | 2018-01-10 | トヨタ自動車株式会社 | 倒立台車、倒立台車の制御方法及びプログラム |
CN106314645A (zh) * | 2015-06-23 | 2017-01-11 | 代志斌 | 车辆平衡装置以及调整车辆平衡的方法 |
US9862434B2 (en) * | 2016-01-21 | 2018-01-09 | Sol Boards, Inc. | Standing electric vehicle for golf course travel |
USD768252S1 (en) | 2016-02-25 | 2016-10-04 | Equalia LLC | Pitch-propelled vehicle |
JP6281594B2 (ja) * | 2016-05-02 | 2018-02-21 | トヨタ自動車株式会社 | 走行装置、走行装置の制御方法および走行装置の制御プログラム |
CN107804388B (zh) * | 2016-09-08 | 2022-08-05 | 福特汽车公司 | 运输*** |
WO2024056741A1 (en) | 2022-09-13 | 2024-03-21 | Genny Factory Sa | "control method for self-balancing vehicles and respective self-balancing vehicle" |
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US6302230B1 (en) * | 1999-06-04 | 2001-10-16 | Deka Products Limited Partnership | Personal mobility vehicles and methods |
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- 2007-10-22 JP JP2007273544A patent/JP4862801B2/ja not_active Expired - Fee Related
-
2008
- 2008-09-17 KR KR1020097016243A patent/KR101145287B1/ko active IP Right Grant
- 2008-09-17 US US12/522,230 patent/US8256545B2/en not_active Expired - Fee Related
- 2008-09-17 EP EP08842570.7A patent/EP2213563B1/de not_active Not-in-force
- 2008-09-17 CN CN2008800206280A patent/CN101678872B/zh not_active Expired - Fee Related
- 2008-09-17 WO PCT/JP2008/066713 patent/WO2009054208A1/ja active Application Filing
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No further relevant documents disclosed * |
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Also Published As
Publication number | Publication date |
---|---|
US20100038163A1 (en) | 2010-02-18 |
US8256545B2 (en) | 2012-09-04 |
KR20090098916A (ko) | 2009-09-17 |
CN101678872A (zh) | 2010-03-24 |
JP4862801B2 (ja) | 2012-01-25 |
CN101678872B (zh) | 2013-01-23 |
EP2213563A4 (de) | 2014-07-09 |
WO2009054208A1 (ja) | 2009-04-30 |
EP2213563B1 (de) | 2016-06-22 |
KR101145287B1 (ko) | 2012-05-16 |
JP2009101760A (ja) | 2009-05-14 |
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